Phytron I1AM01 Stepper Motor Controller support from Tom Slejko and Bor Marolt of Cosylab d.d.

phytronApp/src/Makefile

+TOP=../..
+
+include $(TOP)/configure/CONFIG
+#----------------------------------------
+# Build the IOC application
+
+LIBRARY_IOC += phytronAxisMotor
+
+DBD += phytron.dbd
+
+# The following are compiled and added to the support library
+phytronAxisMotor_SRCS += phytronAxisMotor.cpp
+
+INC += phytronAxisMotor.h
+
+phytronAxisMotor_LIBS += motor
+phytronAxisMotor_LIBS += asyn
+phytronAxisMotor_LIBS += $(EPICS_BASE_IOC_LIBS)
+
+#===========================
+
+include $(TOP)/configure/RULES
+

phytronApp/src/README.txt

+********************************************************************************
+Phytron I1AM01 Stepper Motor Controller Asyn Driver Documentation
+
+Authors: Tom Slejko, Bor Marolt, Cosylab d.d.
+		tom.slejko@cosylab.com
+		bor.marolt@cosylab.com
+
+********************************************************************************
+Table of contents:
+- Controller and axis configuration
+    - Example Application
+    - New Applicaion
+- Database
+    - Supported I1AM01 Features
+         - Initialization records
+         - Status
+         - Homing
+         - Reset
+         - I1AM01 parameters
+    - Supported MCM01 Features
+    - Motor record
+    - List of remaining I1AM01 parameters handled by the motor record, 
+      internally by controller, or not applicable
+- GUI
+
+
+Controller and axis configuration
+=================================
+Example application:
+--------------------
+Motor record includes an example Phytron application. Before using it do:
+
+cd $(MOTOR_ROOT)/iocBoot/iocWithAsyn/
+
+where $(MOTOR_ROOT) is the location of the motor record. Open st.cmd.phytron and
+modify controller's IP address. If using serial port instead of ethernet, read 
+"New application" section, on how to configure the serial port. Remove or add 
+calls to phytronCreateAxis according to the number of axes that are to be used 
+(read "New application" section on how to use phytronCreateAxis). 
+Once st.cmd is configured, run:
+
+../../bin/linux-x86_64/WithAsyn st.cmd.phytron
+
+New application:
+----------------
+This section describes how to properly configure epics application in order to
+use phytronAxisMotor driver.
+
+The following dbd files and libraries must be added to the $(APP)/src/Makefile:
+test_DBD += asyn.dbd
+test_DBD += motorSupport.dbd
+test_DBD += drvAsynIPPort.dbd
+test_DBD += phytron.dbd
+
+test_LIBS += asyn
+test_LIBS += motor
+test_LIBS += phytronAxisMotor
+
+An example motor.substitutions.phytron and st.cmd.phytron files are located in 
+the $(MOTOR_RECORD)/iocBoot/iocWithAsyn/ directory.
+
+********************************************************************************
+WARNING: For the controller to work properly all three database files (
+Phytron_I1AM01.db, Phytron_MCM01.db and Phytron_motor.db) must be used.
+********************************************************************************
+
+Start up script must perform the following:
+Before configuring the controller the user must create an asyn port by running 
+drvAsynIPPortConfigure or drvAsynSerialPortConfigure in order to create a 
+communication interface to Phytron's MCM Unit which controlls the I1AM01 
+modules.
+
+If serial port is used for communication with the controller, baud rate, number
+of data bits, parity, number of stop bits and End Of Line character must be set,
+e.g.:
+
+drvAsynSerialPortConfigure ("testRemote","/dev/ttyUSB0")
+asynOctetSetInputEos("testRemote",0,"\3")
+asynSetOption ("testRemote", -1, "baud", "115200")
+asynSetOption ("testRemote", -1, "bits", "8")
+asynSetOption ("testRemote", -1, "parity", "none")
+asynSetOption ("testRemote", -1, "stop", "1")
+
+If ethernet is used, the IP and port must be set, e.g.:
+drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
+
+Phytron (MCM) controller port is configured (and connected to previously created
+asyn port) by running the following iocsh function:
+
+phytronCreateController(const char *phytronPortName, const char *asynPortName,
+                int movingPollPeriod, int idlePollPeriod, double timeout)
+- phytronPortName: Name of the particular MCM unit.
+- asynPortName: Name of the previously configured asyn port - interface to MCM
+- movingPollPeriod: The time between polls when any axis is moving in ms
+- idlePolPeriod: The time between polls when no axis is moving in ms
+- Timeout: Milliseconds before timeout for I/O requests
+
+where poll reads the basic axis status, e.g. position of the motor and of the 
+encoder, checks if axis is in movement, checks if motor is at the limit 
+switch, ...
+
+Once the phytron controller is configured, user can initialize axes by running
+
+phytronCreateAxis(const char* phytronPortName, int module, int axis)
+- phytronPortName: Previously defined name of the MCM unit
+- module: index of the I1AM01 module connected to the MCM
+- axis: index of the axis on the I1AM01 module
+
+Module index and axis index compose the axis asyn ADDR (ADDR macro) used in the
+motor.substitutions file. 
+
+PhytronCreateAxis must be called for each axis intended to be used.
+
+********************************************************************************
+WARNING: For every axis, the user must specify it's address (ADDR macro) in the 
+motor.substitutions file for Phytron_motor.db and PhytronI1AM01.db files.
+The address is composed of the I1AM01 module index and the axis index. If, for 
+example, the startup script configures the following axis:
+
+drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
+phytronCreateController ("phyMotionPort", "testRemote", 100, 100, 1000)
+phytronCreateAxis("phyMotionPort", 2, 1)
+
+It's asyn address that must be specified in the substitutions file is 21,
+
+PORT macro in the substitution file must match the phytronPortName, which is in
+the example above "phyMotionPort"
+********************************************************************************
+
+Example st.cmd:
+---------------
+#!../../bin/linux-x86_64/test
+
+## You may have to change test to something else
+## everywhere it appears in this file
+
+< envPaths
+
+## Register all support components
+dbLoadDatabase("../../dbd/test.dbd",0,0)
+test_registerRecordDeviceDriver(pdbbase) 
+
+drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
+
+phytronCreateController ("phyMotionPort", "testRemote", 100, 100, 1000)
+
+#phytronCreateAxis(phytronPort, module, axis)
+phytronCreateAxis("phyMotionPort", 1, 1)
+phytronCreateAxis("phyMotionPort", 2, 1)
+
+
+cd $(MOTOR)/iocBoot/iocWithAsyn/
+dbLoadTemplate "motor.substitutions.phytron"
+
+iocInit()
+
+Database:
+=========
+All three database files (Phytron_I1AM01.db, Phytron_MCM01.db, Phytron_motor.db)
+in $(MOTOR_ROOT)/motorApp/Db are expanded by motor.substitutions.phytron file in
+$(MOTOR_ROOT)/iocBoot/iocWithAsyn
+
+********************************************************************************
+WARNING: For the controller to work properly all three database files (
+Phytron_I1AM01.db, Phytron_MCM01.db and Phytron_motor.db) must be used.
+********************************************************************************
+
+===============================================
+I1AM01 Controller Features - Phytron_I1AM01.db:
+===============================================
+Initialization:
+---------------
+Database contains 2 initialization records $(P)$(M)-INIT-AXIS-1/2 which are used
+to initalize output (_SET) records. Initialization values are defined in the 
+motor.substitutions file.
+
+Status:
+-------
+Database contains several status records. Ai record $(P)$(M)-STATUS_ reads the 
+status value from the I1AM01 module, 2 mbbiDirect records ($(P)$(M)-STATUS-1/2) 
+are provided to set the status bits - 23 bi records are provided to parse these
+status bits. An additional calc record is provided ($(P)$(M)-AXIS-ERR) which
+sets it's value to 1 if any of the error bits are set (if only notification 
+bits are set, e.g. axis-initialized, the value of $(P)$(M)-AXIS-ERR is 0).
+
+Homing:
+-------
+RECORDS mbbo/mbbi: $(P)$(M)-HOMING_SET/_GET are used to set and readback the 
+type of homing to be used. Homing is executed with the use of motor record's 
+HOMF, HOMR fields. The following options are available for $(P)$(M)-HOMING_SET, 
+please keep in mind that offsets defined by I1AM01 parameters P11 and P12 (see 
+phylogic-en.pdf and see below for records corresponding to P11 and P12) affect
+the final position after the homing procedure:
+<- recordValue (Homing description); Phytron commands for HOMF and HOMR>
+
+- Limit (Home on limit switches); HOMF - m.aR+, HOMR - m.aR-
+
+- Center (Home on center switch); HOMF - m.aR+C, HOMR - m.aR-C
+COMMENT: If limit switch is reached, the motor will stop and start moving in the
+opposite direction until center switch is reached
+
+- Encoder (Home on encoder zero pulse); HOMF - m.aR+I, HOMR - m.aR-I
+
+- Limit-Encoder (Got to limit switch, than encoder zero pulse); 
+        HOMF - m.aR+^I, HOMR - m.aR-^I
+
+- Center-Encoder (Go to the center switch than to encoder zero pulse)
+        HOMF - m.a.R+C^I, HOMR - m.aR-C^I
+COMMENT: If limit switch is reached before center switch, the motor will stop 
+and start moving in the opposite direction until center switch is reached
+
+- Reference-Center (Driving on a reference signal to center)
+        HOMF - m.aRC+, HOMR - m.aRC-
+COMMEN: If limit switch is reached, controller goes to axis error state
+
+- Ref-Center-Encoder (Driving on a reference signal to center and then to 
+encoder zero pulse)
+        HOMF - m.aRC+^I, HOMR - m.aRC-^I
+
+Reset:
+------
+Two records are provided. Record $(P)$(M)-RESET executs Phytron command: m.aC,
+where m is controller index and a is the axis index.
+
+$(P)$(M)-RESET-STATUS resets the axis status by executing the Phytron command: 
+SECm.a, where m is controller index and a is the axis index.
+
+If user resets the MCM unit, $(P)$(M)-REINIT_ record is triggered. This record
+process the initialization records $(P)$(M)-INIT-AXIS-1/2 after a DELAY time
+defined by the macro DLY in the substitutions file.
+
+
+The following I1AM01 parameters are exposed as additional EPICS records:
+------------------------------------------------------------------------
+Param. index: feature;
+Record name(s):
+Comment:
+-------------------------------------
+P01: Type of movement;
+RECORDS mbbo/mbbi: $(P)$(M)-MOVE-TYP_SET/_GET; 
+COMMENT: Software limits are always monitored  by the motor record, so only 2 
+types of movements are possible:
+    - Rotational: HW limit/center switches are ignored
+    - HW switches are monitored
+-------------------------------------
+P11: M0P offset for limit switch in direction towards LIMIT-;
+RECORDS ao/ai: $(P)$(M)-POS-OFFSET_SET/_GET
+-------------------------------------
+P12: M0P offset for limit switch in direction towards LIMIT+;
+RECORDS ao/ai: $(P)$(M)-NEG-OFFSET_SET/_GET
+-------------------------------------
+P13: Time lapse during initialization
+RECORDS ao/ai: $(P)$(M)-INIT-TIMEOUT_SET/_GET
+-------------------------------------
+P16: Time lapse after positioning
+RECORDS ao/ai: $(P)$(M)-POS-TIMEOUT_SET/_GET
+-------------------------------------
+P17: Defines when to use boost current 
+RECORDS mbbo/mbbi: $(P)$(M)-BOOST_SET/_GET
+-------------------------------------
+P26: Encoder data transfer rate (ONLY FOR SSI)
+RECORDS mbbo/mbbi: $(P)$(M)-ENC-RATE_SET/_GET
+-------------------------------------
+P27: Limit switch type
+RECORDS mbbo/mbbi: $(P)$(M)-SWITCH-TYP_SET/_GET
+-------------------------------------
+P28: Power stage off/on
+RECORDS bo/bi: $(P)$(M)-PWR-STAGE-MODE_SET/_GET
+-------------------------------------
+P34: Encoder type
+RECORDS mbbo/mbbi: $(P)$(M)-ENC-TYP_SET/_GET
+-------------------------------------
+P35: Encoder resolution - for SSI and EnDat encoders
+RECORDS ao/ai: $(P)$(M)-ENC-RES_SET/_GET
+-------------------------------------
+P36: Encoder function: If 1, Encoder position is continuously compared to the 
+motor position
+RECORDS: bo/bi: $(P)$(M)-ENC-FUNC_SET/_GET
+COMMENT: _SET is processed when $(P)$(M)-ENC-SFI_SET corresponding to parameter 
+P37 is processed. If P37 > 0, then P36 is set to 1, else it is 0.
+-------------------------------------
+P37: If P36 is set to 1, controller will stop the motion when the difference
+between motor and encoder position is > P37.
+RECORDS: bo/bi: $(P)$(M)-ENC-SFI_SET/_GET
+COMMENT: If value is set to > 0, then P36 is set to 1. If P37=0, then P36=0
+-------------------------------------
+P38: Encoder direction of rotation: Positive/Negative
+RECORDS: bo/bi: $(P)$(M)-ENC-DIR_SET/_GET
+-------------------------------------
+P39: Encoder direction of rotation
+RECORDS: bo/bi: $(P)$(M)-ENC-DIR_SET/_GET
+-------------------------------------
+P40: Stop current in mA. Can be set in 10 mA increments
+RECORDS: ao/ai: $(P)$(M)-STOP-CURRENT_SET/_GET
+-------------------------------------
+P41: Run current in mA. Can be set in 10 mA increments
+RECORDS: ao/ai: $(P)$(M)-RUN-CURRENT_SET/_GET
+-------------------------------------
+P42: Boost current in mA. Can be set in 10 mA increments
+RECORDS: ao/ai: $(P)$(M)-BOOST-CURRENT_SET/_GET
+-------------------------------------
+P43: Current hold time in ms.
+RECORDS: ao/ai: $(P)$(M)-CURRENT-DELAY_SET/_GET
+-------------------------------------
+P49: Power stage temperature
+RECORDS: ai: $(P)$(M)-PS-TEMPERATURE
+-------------------------------------
+P53: Power stage monitoring
+RECORDS: bo/bi: $(P)$(M)-PS-MONITOR/_GET
+-------------------------------------
+P54: Motor temperature
+RECORDS: ai: $(P)$(M)-MOTOR-TEMP
+
+
+
+============================================
+MC01 Controller Features - Phytron_MCM01.db:
+============================================
+This database file contains records for reading MCM01 status and to reset the 
+MCM01 module.
+
+Ai record $(P)-STATUS_ reads the status value from the MCM01 module, a 
+mbbiDirect record is provided to set the status bits - 16 bi records are 
+provided to parse these bits. An additional calc record is provided 
+($(P)-CON-ERR) which sets it's value to 1 if any of the error bits are set (if 
+only noticiation bits are set, e.g. terminal-activated, the value of 
+$(P)-CON-ERR is 0)
+
+Bo record $(P)-RESET resets the MCM01 controller, every time it is processed. 
+$(P)-RESET_ alternates between 0 and 1, so the monitor is posted on every reset
+and the axis REINIT_ record can trigger the initialization procedures.
+
+================================
+Motor Record - Phytron_motor.db:
+================================
+This database file is similar to basic_asyn_motor.db, the only difference is, 
+that 2 additional fields are defined:
+  - field(ERES,"$(ERES)") - encoder resolution
+  - field(VMAX,"$(VMAX)") - maximum velocity
+
+
+===============================================================================
+List of remaining I1AM01 parameters handled by the motor record,  internally by 
+controller, or not applicable
+===============================================================================
+P02 (Units of movemnt) - Always set to step - unit conversion is done within the
+motor record.
+
+P03 (Conversion factor for the thread) - Always set to 1 - unit conversion is 
+done within the motor record.
+
+P04 (Start/stop frequency) - Set by phytronAxis::move, before move is executed.
+
+P07 (Emergency stop ramp) - Set by phytronAxis::stop, before stop is executed.
+
+P08 (Initialization run frequency) - Set by phytronAxis::home, before homing is 
+executed.
+
+P09 (Ramp M0P) - Set by phytronAxis::home, before homing is executed.
+
+P10 (Run frequency for leaving the limit switch) - Set by phytronAxis::home, 
+before homing is executed
+
+P14 (Run frequency during program operation) - Set by phytronAxis::move, before
+move is executed
+
+P15 (Ramp for run frequency) - Set by phytronAxis::move, before move is executed
+
+P18 (Used internally by controller)
+
+P19 (Encoder deviation M0P counter)
+
+P20 (Mechanical 0 counter) - read by phytronAxis::poll to determine motor 
+position
+
+P21 (Absolute counter)
+
+P22 (Encoder counter) - read by phytronAxis::poll to determine encoder position
+
+P23 and P24 - Software limit switches - these parameters are ignored, because 
+motor record handles software limits
+
+P25 (Compensation for play) - Ignored, because motor records handles backlash 
+corrections
+
+P29 (Not used (by controller))
+
+P30 and P31 (For I4XM01 only)
+
+P32 and P33 (Not used (by controller))
+
+P44 (For I4XM01 only)
+
+P46, P47, P48 (Not used (by controller))
+
+P50 and P51 (For I4XM01 only)
+
+P52 (Internally used for trigger position)
+
+
+GUI:
+====
+The follwoing CSS BOY GUI screens are located in motorApp/op/opi:
+
+PhytronMain.opi
+---------------
+Motor record name is usually defined with 2 macros:
+record(motor, "$(P)$(M)")
+
+The value of the macro $(IOC) of the PhytronMain.opi screen must match the value
+of the macro $(P) which is defined in motor.substitutions.
+
+PhytronMain.opi has 2 action buttons to open screen PhytronI1AM01.opi for motor 
+$(IOC):$(M), where the default values for $(M) are "m1" for the left button  
+and "m2" for the right button. User must modify the values of macros $(IOC) and
+$(M) according to the macro values in motor.subsititutions.
+
+PhytronMain.opi also contains a CONTROLLER STATUS line. The LED displays the 
+value of record $(P)-CON-ERR (see section MC01 Controller Features). Action 
+button "MORE" opens the screen PhytronMCM01Status.opi, action button "RESET"
+resets the MCM01 controller and action button "RESET CONTROLLER" resets 
+controller status.
+
+PhytronI1AM01.opi
+-----------------
+Status line contains a LED which displays the value of the record 
+$(P)$(M)-AXIS-ERR, and an action button which displays the PhytronI1AM01.opi
+screen. Action buttons "RESET AXIS" and "RESET STATUS" are provided.
+
+The remaining widgets are used to set and read back the values of supported 
+I1AM01 parameters (see section I1AM01 Controller Features).
+
+PhytronI1AM01Status.opi
+-----------------------
+Contains an LED for each of the 23 bi records parsing the $(P)$(M)-STATUS-1/2
+mbbiDirect records.
+
+PhytronMCM01Status.opi
+----------------------
+Contains an LED for each of the 16 bi records parsing the $(P)-STATUS-BITS_ 
+mbbiDirect record
+
+
+
+
+
+

phytronApp/src/phytron.dbd

+registrar(phytronRegister)

phytronApp/src/phytronAxisMotor.h

+/*
+FILENAME... phytronAxisMotor.h
+USAGE...    Motor record  support for Phytron Axis controller.
+
+Tom Slejko & Bor Marolt
+Cosylab d.d. 2014
+
+Version:        $Revision$
+Modified By:    $Author$
+Last Modified:  $Date$
+HeadURL:        $URL$
+*/
+
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
+
+
+//Number of controller specific parameters
+#define NUM_PHYTRON_PARAMS 29
+
+#define MAX_VELOCITY      40000 //steps/s
+#define MIN_VELOCITY      1     //steps/s
+
+#define MAX_ACCELERATION  500000  // steps/s^2
+#define MIN_ACCELERATION  4000    // steps/s^2
+
+//Controller parameters
+#define controllerStatusString      "CONTROLLER_STATUS"
+#define controllerStatusResetString "CONTROLLER_STATUS_RESET"
+#define resetControllerString       "CONTROLLER_RESET"
+
+//Axis parameters
+#define axisStatusString            "AXIS_STATUS"
+#define homingProcedureString       "HOMING_PROCEDURE"
+#define axisModeString              "AXIS_MODE"
+#define mopOffsetPosString          "MOP_POS"
+#define mopOffsetNegString          "MOP_NEG"
+#define stepResolutionString        "STEP_RES"
+#define stopCurrentString           "STOP_CURRENT"
+#define runCurrentString            "RUN_CURRENT"
+#define boostCurrentString          "BOOST_CURRENT"
+#define encoderTypeString           "ENCODER_TYP"
+#define initRecoveryTimeString      "INIT_TIME"
+#define positionRecoveryTimeString  "POSITION_TIME"
+#define boostConditionString        "BOOST"
+#define encoderRateString           "ENC_RATE"
+#define switchTypString             "SWITCH_TYP"
+#define pwrStageModeString          "PWR_STAGE_MODE"
+#define encoderResolutionString     "ENC_RESOLUTION"
+#define encoderFunctionString       "ENC_FUNCTION"
+#define encoderSFIWidthString       "ENC_SFI_WIDTH"
+#define encoderDirectionString      "ENC_DIRECTION"
+#define powerStageTempString        "PS_TEMPERATURE"
+#define powerStagetMonitorString    "PS_MONITOR"
+#define motorTempString             "MOTOR_TEMP"
+#define currentDelayTimeString      "CURRENT_DELAY_TIME"
+#define axisResetString             "AXIS_RESET"
+#define axisStatusResetString       "AXIS_STATUS_RESET"
+
+typedef enum {
+  phytronSuccess,
+  phytronTimeout,
+  phytronOverflow,
+  phytronError,
+  phytronDisconnected,
+  phytronDisabled,
+  phytronInvalidReturn,
+  phytronInvalidCommand
+} phytronStatus;
+
+enum movementType{
+  stdMove,
+  homeMove,
+  stopMove
+};
+
+enum homingType{
+  limit,
+  center,
+  encoder,
+  limitEncoder,
+  centerEncoder,
+  referenceCenter,
+  referenceCenterEncoder,
+};
+
+
+class phytronAxis : public asynMotorAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  phytronAxis(class phytronController *pC, int axis);
+  void report(FILE *fp, int level);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  asynStatus stop(double acceleration);
+  asynStatus poll(bool *moving);
+  asynStatus setPosition(double position);
+
+  asynStatus setEncoderRatio(double ratio);
+  asynStatus setEncoderPosition(double position);
+
+  float axisModuleNo_; //Used by sprintf to form commands
+
+private:
+  phytronController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
+                                   *   Abbreviated because it is used very frequently */
+
+  phytronStatus setVelocity(double minVelocity, double maxVelocity, int moveType);
+  phytronStatus setAcceleration(double acceleration, int movementType);
+
+  size_t response_len;
+
+friend class phytronController;
+};
+
+class phytronController : public asynMotorController {
+public:
+  phytronController(const char *portName, const char *phytronPortName, double movingPollPeriod, double idlePollPeriod, double timeout);
+  asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+  asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+  asynStatus readFloat64(asynUser *pasynUser, epicsFloat64 *value);
+
+  void report(FILE *fp, int level);
+  phytronAxis* getAxis(asynUser *pasynUser);
+  phytronAxis* getAxis(int axisNo);
+
+  phytronStatus sendPhytronCommand(const char *command, char *response_buffer, size_t response_max_len, size_t *nread);
+
+  void resetAxisEncoderRatio();
+
+  //casts phytronStatus to asynStatus
+  asynStatus    phyToAsyn(phytronStatus phyStatus);
+
+  char * controllerName_;
+  std::vector<phytronAxis*> axes;
+
+protected:
+  //Additional parameters used by additional records
+  int axisStatus_;
+  int controllerStatus_;
+  int homingProcedure_;
+  int axisMode_;
+  int mopOffsetPos_;
+  int mopOffsetNeg_;
+  int stepResolution_;
+  int stopCurrent_;
+  int runCurrent_;
+  int boostCurrent_;
+  int encoderType_;
+  int initRecoveryTime_;
+  int positionRecoveryTime_;
+  int boost_;
+  int encoderRate_;
+  int switchTyp_;
+  int pwrStageMode_;
+  int encoderRes_;
+  int encoderFunc_;
+  int encoderSFIWidth_;
+  int encoderDirection_;
+  int powerStageTemp_;
+  int powerStageMonitor_;
+  int motorTemp_;
+  int currentDelayTime_;